75 citations · 285 across the 48 of their papers we have counts for
9 papers · 1 filter
Learning Representations that Enable Generalization in Assistive Tasks
Jerry Zhi-Yang He, Aditi Raghunathan, Daniel S. Brown +2
Recent work in sim2real has successfully enabled robots to act in physical environments by training in simulation with a diverse ''population'' of environments (i.e. domain randomi…
ToolFlowNet: Robotic Manipulation with Tools via Predicting Tool Flow from Point Clouds
Daniel Seita, Yufei Wang, Sarthak J. Shetty +3
Point clouds are a widely available and canonical data modality which convey the 3D geometry of a scene. Despite significant progress in classification and segmentation from point…
SLURP! Spectroscopy of Liquids Using Robot Pre-Touch Sensing
Nathaniel Hanson, Wesley Lewis, Kavya Puthuveetil +4
Liquids and granular media are pervasive throughout human environments. Their free-flowing nature causes people to constrain them into containers. We do so with thousands of differ…
HAT: Head-Worn Assistive Teleoperation of Mobile Manipulators
Akhil Padmanabha, Qin Wang, Daphne Han +6
Mobile manipulators in the home can provide increased autonomy to individuals with severe motor impairments, who often cannot complete activities of daily living (ADLs) without the…
EDO-Net: Learning Elastic Properties of Deformable Objects from Graph Dynamics
Alberta Longhini, Marco Moletta, Alfredo Reichlin +4
We study the problem of learning graph dynamics of deformable objects that generalizes to unknown physical properties. Our key insight is to leverage a latent representation of ela…
Elastic Context: Encoding Elasticity for Data-driven Models of Textiles
Alberta Longhini, Marco Moletta, Alfredo Reichlin +6
Physical interaction with textiles, such as assistive dressing, relies on advanced dextreous capabilities. The underlying complexity in textile behavior when being pulled and stret…
Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions
Yufei Wang, David Held, Zackory Erickson
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, ba…
Causal Confusion and Reward Misidentification in Preference-Based Reward Learning
Jeremy Tien, Jerry Zhi-Yang He, Zackory Erickson +2
Learning policies via preference-based reward learning is an increasingly popular method for customizing agent behavior, but has been shown anecdotally to be prone to spurious corr…
Characterization of a Meso-Scale Wearable Robot for Bathing Assistance
Fukang Liu, Vaidehi Patil, Zackory Erickson +1
Robotic bathing assistance has long been considered an important and practical task in healthcare. Yet, achieving flexible and efficient cleaning tasks on the human body is challen…